PhotonVision

PhotonVision is the free, fast, and easy-to-use computer vision solution for the FIRST Robotics Competition. You can read an overview of our features on our website. You can find our comprehensive documentation here.

The latest release of platform-specific jars and images is found here.

If you are interested in contributing code or documentation to the project, please read our getting started page for contributors and join the Discord to introduce yourself! We hope to provide a welcoming community to anyone who is interested in helping.

Documentation

• Our main documentation page: docs.photonvision.org
• Photon UI demo: demo.photonvision.org
• Javadocs: javadocs.photonvision.org
• C++ Doxygen: cppdocs.photonvision.org

Authors

Building

Gradle is used for all C++ and Java code, and pnpm is used for the web UI. Instructions to compile PhotonVision yourself can be found in our docs.

You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the photonlib-java-examples and photonlib-cpp-examples subdirectories, respectively. Instructions for running these examples directly from the repo are found in the docs.

Gradle Arguments

Note that these are case sensitive!

• -PArchOverride=foobar: builds for a target system other than your current architecture. Valid overrides are:
  • winx86-64
  • winarm64
  • macx86-64
  • macarm64
  • linuxx86-64
  • linuxarm64
  • linuxathena

• -PtgtIP: Specifies where ./gradlew deploy should try to copy the fat JAR to
• -PtgtUser: Specifies custom username for ./gradlew deploy to SSH into
• -PtgtPw: Specifies custom password for ./gradlew deploy to SSH into
• -Pprofile: enables JVM profiling
• -PwithSanitizers: On Linux, enables -fsanitize=address,undefined,leak

If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example ./gradlew installArm64Toolchain or ./gradlew installSystemCoreToolchain

Out-of-Source Dependencies

PhotonVision uses the following additional out-of-source repositories for building code.

• Base system images for supported coprocessors: https://github.com/PhotonVision/photon-image-modifier
• C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver
• JNI code for mrcal: https://github.com/PhotonVision/mrcal-java
• JNI code for RKNN: https://github.com/PhotonVision/rknn_jni
• JNI code for Rubik Pi NPU: https://github.com/PhotonVision/rubik_jni

Acknowledgments

PhotonVision was forked from Chameleon Vision. Thank you to everyone who worked on the original project.

• WPILib - Specifically allwpilib and their build of OpenCV.
• Apache Commons - Specifically Commons IO, and Commons CLI
• diozero
• EJML
• Javalin
• JSON
• Avaje - Specifically jsonb
• MessagePack for Java
• OSHI
• QuickBuffers
• SQLite JDBC
• ZT ZIP

License

PhotonVision is licensed under the GNU General Public License.

Meeting Notes

Our meeting notes can be found in the wiki section of this repository.